Soil erosion in sloping cropland is a major water and soil conservation issue in the Loess Plateau region, one of the main areas with sloping cropland in China. However, the effect of crop root systems, a major factor potentially influencing soil and water conservation in cropland, on farmland erosion, remains unclear. In the present study, soil erosion was investigated using indoor runoff scouring experiments with millet, maize, and soybean cover, with a bare surface as the control (CK), on sloping surfaces. Crop root system characteristics, rill initiation time, and erosion law, as well as their interactions, were investigated. Rill initiation time in slopes with all three crops slope were greater than that in the bare slope, indicating that crops could significantly enhance soil anti-scourability. Soil detachment rate decreased under crop cover when compared with bare land, considering the average soil detachment rate was the highest under CK, followed by under maize and soybean, and the least under millet. Slope gradient and unit discharge rate were positively correlated with soil detachment rate. Root length density, root surface area density, and root volume density were negatively correlated with soil detachment rate. Moreover, roots in the 0–1 mm diameter range dominantly influenced soil erosion.